Time and Jeck Optimazition Based Trajectory Generation for Excavator Arm

Abstract

he paper presents a method to generate the reference trajectory for an excavator arm which guarantees the time
and jeck optimization based on B-spline technique. Firstly, some via-points of the desired trajectory is given.
These points and mechanical constraint about velocity, acceleration, and jeck will be used to solve the optimal
problem. From this solution, the trajectory will be interpolated using B-spline method. Finally, the algorithm is
executed via Optimization and Simulink toolboxs. The simulation results show that the trajectory designed by
this method satisfy the requirements about the smoothness as well as time and jeck optimization.